mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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838e9fc769
Moved the NuttX specific board files to makefiles/nuttx and added a makfiles/linux directory with sample config and board files. Created a makefiles/toolchain_native.mk file for building for Linux with the native system compiler. GCC or clang can be used by setting a flag in the file. The Linux build creates an archive file and will build the tasks as threads. Other code changes are required to support both task based and thread based builds. The NuttX source should not be required for the Linux build. The target OS (NuttX or Linux) is selected by commenting out the desired line in setup.mk Signed-off-by: Mark Charlebois <charlebm@gmail.com>
337 lines
9.7 KiB
Makefile
337 lines
9.7 KiB
Makefile
#
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# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Definitions for a generic GNU ARM-EABI toolchain
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#
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#$(info TOOLCHAIN gnu-arm-eabi)
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# Toolchain commands. Normally only used inside this file.
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#
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CROSSDEV = arm-none-eabi-
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CC = $(CROSSDEV)gcc
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CXX = $(CROSSDEV)g++
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CPP = $(CROSSDEV)gcc -E
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LD = $(CROSSDEV)ld
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AR = $(CROSSDEV)ar rcs
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NM = $(CROSSDEV)nm
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OBJCOPY = $(CROSSDEV)objcopy
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OBJDUMP = $(CROSSDEV)objdump
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# Check if the right version of the toolchain is available
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#
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CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4 4.9.3
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CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
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ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
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$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
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endif
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# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
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MAXOPTIMIZATION ?= -O3
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# Base CPU flags for each of the supported architectures.
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#
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ARCHCPUFLAGS_CORTEXM4F = -mcpu=cortex-m4 \
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-mthumb \
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-march=armv7e-m \
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-mfpu=fpv4-sp-d16 \
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-mfloat-abi=hard
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ARCHCPUFLAGS_CORTEXM4 = -mcpu=cortex-m4 \
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-mthumb \
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-march=armv7e-m \
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-mfloat-abi=soft
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ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \
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-mthumb \
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-march=armv7-m \
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-mfloat-abi=soft
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# Enabling stack checks if OS was build with them
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#
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TEST_FILE_STACKCHECK=$(WORK_DIR)nuttx-export/include/nuttx/config.h
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TEST_VALUE_STACKCHECK=CONFIG_ARMV7M_STACKCHECK\ 1
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ENABLE_STACK_CHECKS=$(shell $(GREP) -q "$(TEST_VALUE_STACKCHECK)" $(TEST_FILE_STACKCHECK); echo $$?;)
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ifeq ("$(ENABLE_STACK_CHECKS)","0")
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ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions -ffixed-r10
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ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions -ffixed-r10
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ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
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else
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ARCHINSTRUMENTATIONDEFINES_CORTEXM4F =
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ARCHINSTRUMENTATIONDEFINES_CORTEXM4 =
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ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
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endif
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# Pick the right set of flags for the architecture.
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#
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ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
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ifeq ($(ARCHCPUFLAGS),)
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$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
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endif
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# Set the board flags
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#
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ifeq ($(CONFIG_BOARD),)
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$(error Board config does not define CONFIG_BOARD)
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endif
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ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) -D__PX4_NUTTX
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# optimisation flags
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#
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-g3 \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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-fomit-frame-pointer \
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-funsafe-math-optimizations \
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-fno-builtin-printf \
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-ffunction-sections \
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-fdata-sections
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# enable precise stack overflow tracking
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# note - requires corresponding support in NuttX
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INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
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# Language-specific flags
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#
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ARCHCFLAGS = -std=gnu99
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
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# Generic warnings
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#
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ARCHWARNINGS = -Wall \
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-Wextra \
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-Werror \
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-Wdouble-promotion \
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-Wshadow \
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-Wfloat-equal \
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-Wframe-larger-than=1024 \
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-Wpointer-arith \
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-Wlogical-op \
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-Wmissing-declarations \
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-Wpacked \
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-Wno-unused-parameter \
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-Werror=format-security \
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-Werror=array-bounds \
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-Wfatal-errors \
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-Wformat=1 \
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-Werror=unused-but-set-variable \
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-Werror=unused-variable \
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-Werror=double-promotion \
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-Werror=reorder \
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-Werror=uninitialized \
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-Werror=init-self
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# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
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# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
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# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
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# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
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# C-specific warnings
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#
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ARCHCWARNINGS = $(ARCHWARNINGS) \
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-Wbad-function-cast \
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-Wstrict-prototypes \
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-Wold-style-declaration \
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-Wmissing-parameter-type \
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-Wmissing-prototypes \
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-Wnested-externs
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# C++-specific warnings
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#
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ARCHWARNINGSXX = $(ARCHWARNINGS) \
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-Wno-missing-field-initializers
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# pull in *just* libm from the toolchain ... this is grody
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LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
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EXTRA_LIBS += $(LIBM)
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# Flags we pass to the C compiler
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#
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CFLAGS = $(ARCHCFLAGS) \
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$(ARCHCWARNINGS) \
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$(ARCHOPTIMIZATION) \
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$(ARCHCPUFLAGS) \
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$(ARCHINCLUDES) \
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$(INSTRUMENTATIONDEFINES) \
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$(ARCHDEFINES) \
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$(EXTRADEFINES) \
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$(EXTRACFLAGS) \
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-fno-common \
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$(addprefix -I,$(INCLUDE_DIRS))
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# Flags we pass to the C++ compiler
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#
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CXXFLAGS = $(ARCHCXXFLAGS) \
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$(ARCHWARNINGSXX) \
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$(ARCHOPTIMIZATION) \
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$(ARCHCPUFLAGS) \
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$(ARCHXXINCLUDES) \
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$(INSTRUMENTATIONDEFINES) \
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$(ARCHDEFINES) \
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-DCONFIG_WCHAR_BUILTIN \
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$(EXTRADEFINES) \
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$(EXTRACXXFLAGS) \
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$(addprefix -I,$(INCLUDE_DIRS))
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# Flags we pass to the assembler
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#
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AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
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$(EXTRADEFINES) \
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$(EXTRAAFLAGS)
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# Flags we pass to the linker
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#
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LDFLAGS += --warn-common \
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--gc-sections \
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$(EXTRALDFLAGS) \
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$(addprefix -T,$(LDSCRIPT)) \
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$(addprefix -L,$(LIB_DIRS))
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# Compiler support library
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#
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LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
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# Files that the final link depends on
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#
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LINK_DEPS += $(LDSCRIPT)
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# Files to include to get automated dependencies
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#
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DEP_INCLUDES = $(subst .o,.d,$(OBJS))
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# Compile C source $1 to object $2
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# as a side-effect, generate a dependency file
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#
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define COMPILE
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@$(ECHO) "CC: $1"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
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endef
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# Compile C++ source $1 to $2
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# as a side-effect, generate a dependency file
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#
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define COMPILEXX
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@$(ECHO) "CXX: $1"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
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endef
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# Assemble $1 into $2
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#
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define ASSEMBLE
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@$(ECHO) "AS: $1"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
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endef
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# Produce partially-linked $1 from files in $2
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#
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define PRELINK
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@$(ECHO) "PRELINK: $1"
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@$(MKDIR) -p $(dir $1)
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$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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endef
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# Update the archive $1 with the files in $2
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#
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define ARCHIVE
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@$(ECHO) "AR: $2"
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@$(MKDIR) -p $(dir $1)
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$(Q) $(AR) $1 $2
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endef
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# Link the objects in $2 into the binary $1
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#
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define LINK
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@$(ECHO) "LINK: $1"
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@$(MKDIR) -p $(dir $1)
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$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
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endef
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# Convert $1 from a linked object to a raw binary in $2
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#
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define SYM_TO_BIN
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@$(ECHO) "BIN: $2"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(OBJCOPY) -O binary $1 $2
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endef
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# Take the raw binary $1 and make it into an object file $2.
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# The symbol $3 points to the beginning of the file, and $3_len
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# gives its length.
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#
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# - compile an empty file to generate a suitable object file
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# - relink the object and insert the binary file
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# - extract the length
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# - create const unsigned $3_len with the extracted length as its value and compile it to an object file
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# - link the two generated object files together
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# - edit symbol names to suit
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#
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# NOTE: exercise caution using this with absolute pathnames; it looks
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# like the MinGW tools insert an extra _ in the binary symbol name; e.g.
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# the path:
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#
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# /d/px4/firmware/Build/px4fmu_default.build/romfs.img
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#
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# is assigned symbols like:
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#
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# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
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#
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# when we would expect
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#
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# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
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#
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define BIN_SYM_PREFIX
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_binary_$(subst /,_,$(subst .,_,$1))
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endef
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define BIN_TO_OBJ
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@$(ECHO) "OBJ: $2"
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@$(MKDIR) -p $(dir $2)
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$(Q) $(ECHO) > $2.c
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$(call COMPILE,$2.c,$2.c.o)
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$(Q) $(LD) -r -o $2.bin.o $2.c.o -b binary $1
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$(Q) $(ECHO) "const unsigned int $3_len = 0x`$(NM) -p --radix=x $2.bin.o | $(GREP) $(call BIN_SYM_PREFIX,$1)_size$$ | $(GREP) -o ^[0-9a-fA-F]*`;" > $2.c
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$(call COMPILE,$2.c,$2.c.o)
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$(Q) $(LD) -r -o $2 $2.c.o $2.bin.o
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$(Q) $(OBJCOPY) $2 \
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--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
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--strip-symbol $(call BIN_SYM_PREFIX,$1)_size \
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--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
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--rename-section .data=.rodata
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$(Q) $(REMOVE) $2.c $2.c.o $2.bin.o
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endef
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